Motor mount and damper

ABSTRACT

A system having a damper with six or more indentations on alternating sides of the damper, where each indentation is open to an outer circumferential surface of the damper and extends over halfway through a width of the damper, and six or more slots, each slot open to an undulating inner circumferential surface of the damper and extending through the width of the damper.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. Nonprovisional patentapplication Ser. No. 16/842,166, filed Apr. 7, 2020, which is acontinuation of U.S. Nonprovisional patent application Ser. No.15/619,976, filed Jun. 12, 2017, which issued as U.S. Pat. No.10,666,112 on May 26, 2020, which is a continuation of U.S.Nonprovisional patent application Ser. No. 14/973,611, filed Dec. 17,2015, which issued as U.S. Pat. No. 9,705,377 on Jul. 11, 2017, whichclaims priority to and the benefit of U.S. Provisional PatentApplication No. 62/094,672, filed Dec. 19, 2014, the contents of all ofwhich are hereby incorporated by reference herein for all purposes.

TECHNICAL FIELD

The invention, in its several embodiments, pertains to motor mounts, andmore particularly to motor mount vibration dampening.

BACKGROUND

Electric motors create vibration, which can cause interference withother vibration-sensitive components. In an unmanned aerial vehicle(UAV), a motor driving a spinning high inertial mass, i.e., a propeller,will impart vibrations on the fuselage during flight. These vibrationsmay affect sensors and/or navigation of the UAV, e.g., via an inertialnavigation system (INS). As UAVs are made lighter, they may become moresensitive to vibrations caused by the motor. Additionally, theconfiguration of many UAVs leaves limited space, and weight limits,within which to place a dampener for motor vibrations. Existingsolutions involve dampening motor vibrations by a dampening materialattached via a spring. Other solutions involve attaching elastomersdirectly to a motor by an adhesive, which presents serious manufacturingand long-term reliability issues. A need exists for a compact dampenerfor motor vibrations that is long-lasting, reliable, and serviceable.

SUMMARY

Some embodiments of the present invention may include a system having adamper, the damper having six or more indentations on alternating sidesof the damper, where each indentation may be open to an outercircumferential surface of the damper and extend over halfway through awidth of the damper; and six or more slots, each slot open to anundulating inner circumferential surface of the damper and extendingthrough the width of the damper. In additional system embodiments, thesystem may further have a motor mount having six or more tabs disposedabout an aperture in a same plane extending parallel to a front face ofthe motor mount. In additional system embodiments, the six or more tabsof the motor mount may be seated in the six or more indentations of thedamper to self-encapsulate the outer circumferential surface of thedamper in the motor mount. In additional system embodiments, the systemmay further have a motor having six or more fins disposed along an outeredge of the motor. In additional system embodiments, the motor mayfurther have a shaft and one or more apertures for receiving a fastener.In additional system embodiments, the motor may be a brushless directcurrent (BLDC) motor. In additional system embodiments, the six or morefins of the motor may be seated in the six or more slots of the damper.In additional system embodiments, the six or more fins of the motor andthe outer edge of the motor may compress the damper against the six ormore tabs of the motor mount and into an air space in the six or moreindentations. In additional system embodiments, the system may furtherhave a plate having one or more apertures for receiving a fastener. Inadditional system embodiments, the plate may be connected to the motorby a fastener inserted through the one or more apertures of the plateand the one or more apertures of the motor, and the plate may cover thedamper and the six or more fins of the motor. In additional systemembodiments, the plate may further have a central aperture to receivethe shaft of the motor. In additional system embodiments, the plate mayfurther have an additional thickness, where the additional thickness ofthe plate may further compress the damper against the six or more tabsof the motor mount and into the air space in the six or moreindentations. In additional system embodiments, the motor mount may beconnected to a fuselage of an unmanned aerial vehicle (UAV). Inadditional system embodiments, the damper may be reversible in the motormount. In additional system embodiments, the damper may have eightequally spaced alternating indentations. In additional systemembodiments, the motor mount may have eight tabs, and the eightalternating indentations of the motor mount may be seated in the eighttabs, such that four tabs may be visible on a front side of the motormount and four tabs may be visible on a back side of the motor mount.

An additional exemplary system embodiment may have a damper, the damperhaving: two or more indentations on alternating sides of the damper,where each indentation may be open to an outer circumferential surfaceof the damper and may extend partially through a width of the damper;and one or more slots, where each slot may be open to an innercircumferential surface of the damper and may extend at least partiallythrough the width of the damper.

BRIEF DESCRIPTION OF DRAWINGS

The components in the figures are not necessarily to scale, emphasisinstead being placed upon illustrating the principals of the invention.Like reference numerals designate corresponding parts throughout thedifferent views. Embodiments are illustrated by way of example and notlimitation in the figures of the accompanying drawings, in which:

FIG. 1 depicts an exploded perspective view of a motor mount assemblyhaving a motor with fins, a damper, a motor mount, a plate, and one ormore fasteners;

FIG. 2A depicts a top view of a damper used to minimize vibrations froma motor;

FIG. 2B depicts a bottom view of a damper with indentations visible fromthe top view depicted as dashed lines;

FIG. 2C depicts a side view of a damper showing indentations visible oneach face of the damper;

FIG. 3 depicts a top view of a motor, such as a brushless Direct Current(BLDC) motor, that creates vibrations;

FIG. 4 depicts a top view of a plate which may be used to cover an openend of a motor;

FIG. 5 depicts a top view of a motor mount having an aperture to receivea motor and eight tabs in the same plane;

FIG. 6 depicts a top view of a motor mount having a damper installed inthe aperture and four tabs being visible on each side of the motormount;

FIG. 7 depicts a top view of a motor mount having a damper and motorinstalled in the aperture with the fins and outer edge of the motorcompressing the damper;

FIG. 8 depicts a top view of a motor mount having a plate installed overthe motor and damper to secure the damper in place between the motor andthe plate;

FIG. 9 depicts a front perspective view of a motor mount assembly havinga plate installed over a damper and motor to secure the damper betweenthe motor and the plate;

FIG. 10 depicts a rear perspective view of a motor mount assembly havingone or more wires for control and/or power of the motor;

FIG. 11 depicts a perspective cross-sectional view of a motor mountassembly having a damper installed in the donut-shaped area between themotor and the motor mount;

FIGS. 12A-12C depict cross-sectional views of a damper and tab withvarying tab thicknesses and a constant relative damper thickness;

FIGS. 13A-13C depict cross-sectional views of a damper and tab withvarying damper thicknesses and a constant tab thickness;

FIGS. 14A-14C depict cross-sectional views of a damper and tab withvarying tab lengths, a constant tab thickness, and a constant damperthickness;

FIGS. 15A-15C depict top views of a motor fin with varying thicknesses;

FIGS. 16A-16C depict side views of a damper with varying thicknesses;

FIG. 17 depicts a top view of a motor mount having an alternate numberof tabs, a motor having an alternate number of fins, and a damperdimensioned to fit the motor mount and motor;

FIG. 18 depicts a top view of a motor mount having an alternatepositioning of tabs, a motor having an alternate positioning of fins,and a damper dimensioned to fit the motor mount and motor; and

FIGS. 19A-19B depict top views of a damper with varying shapes.

DETAILED DESCRIPTION

The present invention allows for a self-encapsulated damper along anouter circumferential surface that is long-lasting, reliable, andserviceable. The dimensions of this damper and/or corresponding motormount may be varied to independently adjust the stiffness of rotation,thrust, and yaw and roll. The damper may have six or more indentationson alternating sides of the damper and extending over halfway throughthe width of the damper, where each indentation is open to an outercircumferential surface of the damper. An undulating innercircumferential surface of the damper may have six or more slots, eachof which extend through the width of the damper. The damper may beplaced in a donut-shaped space available on an unmanned aerial vehicle(UAV) between the motor mount and a motor. The motor mount may have sixor more tabs disposed in a plane that may extend parallel to a frontsurface of the motor mount. Each of the six or more tabs may be seatedinto respective indentations of the damper to self-encapsulate the outercircumferential surface of the damper and secure it in place, i.e., thedamper is held in place in the motor mount without the need of anyadditional covers or holds. The motor may have six or more fins disposedalong an outer edge of the face of the motor and these six or more finsmay be seated in respective slots of the undulating innercircumferential surface of the damper. Force applied by the outer edgeof the motor and fins may compress the damper around the tabs of themotor mount, further securing the damper in place, while retaining airspace for compression.

FIG. 1 depicts an exploded perspective view of a motor mount assembly100. The damper 102 is placed in the motor mount 104, which is alignedwith the motor 106 via the fins 108 of the motor 106. The damper 102 isprotected from outside elements by the motor 106, on one face, and aplate 110, on the opposite face. The outer circumferential surface ofthe damper 102 is self-encapsulated by the motor mount 104, i.e., thedamper 102 does not require any additional supports and/or adhesives toremain in place in the motor mount 104. The plate 110 may be attachedover the damper 102, and secured to the motor 106 by one or morefasteners 112.

The motor 106 may be disposed in a UAV and generate vibrations that maybe imparted to a fuselage of the UAV via the motor mount 104. The damper102 dampens these vibrations created by the motor 106, which lessen anyeffects of the vibrations on UAV performance and/or controls. Thelocation of the damper 102 in the donut-shaped space available betweenthe motor mount 104 and the motor 106 uses minimal space in the fuselageof the UAV. As the outer circumferential surface of the damper 102 isself-encapsulated by the motor mount 104, rather than fixed by adhesiveor other means, the damper 102, and/or other components, may be easilyremoved and/or replaced as needed. For example, if the motor 106 needsto be replaced due to failure, the damper 102 may be reused by a newmotor as the damper 102 is not adhesively fixed to the motor 106 and/ormotor mount 104.

FIG. 2A depicts a top view of the damper 102 having four visibleindentations (202, 204, 206, 208) extending into a front face 201 of thedamper 102 and having eight slots 210 that extend through a width of thedamper 102. The damper 102 may be made from an elastomer, e.g., rubber,having a low durometer and/or desired viscoelastic properties. In someembodiments, the durometer of the damper 102 may be adjusted to increaseor decrease the dampening of vibrations, e.g., increasing the durometerof the damper 102 material may decrease dampening. Each indentation(202, 204, 206, 208) may extend over halfway through the width of thedamper 102, have opposing indentation sidewalls (203, 205), an innerwall 207, an opening 209 on an outer circumferential surface 211, and bearranged symmetrically around the damper 102. The opposing indentationsidewalls (203, 205) of each indentation (202, 204, 206, 208) may have acurved edge 212, or lobe, that may compress against an inserted tab ofthe motor mount 104 (See FIG. 6 ). The eight slots 210 are each open toan undulating inner circumferential surface 213 of the damper 102 andmay extend through the width of the damper 102. These slots 210 may beused to secure and/or align the fins 310 of the motor 106 in the damper102 (See FIG. 7 ).

FIG. 2B depicts a bottom view of the damper 102 illustrated in FIG. 1Ahaving four additional indentations (214, 216, 218, 220) extending intoa rear face 215. The four indentations (202, 204, 206, 208) on the frontface 201 are depicted with dashed lines (See FIG. 2A). The damper 102may have eight indentations (202, 204, 206, 208, 214, 216, 218, 220)total, with four indentations formed on each side. Some embodiments mayhave a total of six or more indentations. The indentations (202, 204,206, 208, 214, 216, 218, 220) may be arranged symmetrically about thedamper 102. Each indentation may be separated from each adjacentindentation by one or more slots 210 which may receive respective fins210 from the motor 106 (See FIG. 7 ).

FIG. 2C depicts a side view of the damper 102 showing indentations (220,202, 214, 204, 216) spaced apart circumferentially and disposed onalternate faces (201, 215) of the damper 102. Each indentation (202,204, 206, 208) is open to an outer circumferential surface 211 of thedamper 102, such that the depth 222 of each indentation may extend overhalfway through the width 223 of the damper, i.e., past a centerline 224of the damper 102. This allows for each tab of the motor mount 104,located in the same plane, to be seated in a respective indentation ofthe damper 102 (See FIG. 6 ). This arrangement of alternatingindentations creates a self-encapsulating damper 102 along the outercircumferential surface 211. Each indentation may have a curved edge212, or lobe, to allow the damper 102 to compress around these tabs. Thedamper 102 may be injection molded as a single part.

FIG. 3 depicts a top view of the motor 106, such as a brushless DirectCurrent (BLDC) motor used to drive a propeller in a UAV. The motor 106may have a motor housing 302 and shaft 304 for connecting to a propelleror gearbox. The motor 106 may also have one of more apertures 306disposed on a front face 308 of the motor 106 for connecting fasteners,e.g., a screw, to secure a plate (See FIG. 4 ) to the motor 106. Themotor 106 may also have one or more fins 310 protruding from the lowerface 312 of the motor 106 up to the front face 308 of the motor 106. Theheight of these fins 310 may be the same as the width of the damper.These fins 310 may be arranged circumferentially and extending radiallyabout the front face 308 of the motor 106 in a symmetrical pattern (SeeFIG. 7 ). In some embodiments, the arrangement of fins 310 may benon-symmetrical to only allow for a certain placement of the motor 106relative to the damper and motor mount.

FIG. 4 depicts the plate 110 for covering the motor once the motor hasbeen inserted into the motor mount and damper (See FIG. 8 ) to ensurethe motor is secured as well as to protect the motor and damper from anyoutside elements. The plate 110 may have one or more apertures 402 forinserting a fastener, e.g., a screw, to secure the plate 110 to themotor. The plate 110 may have an opening 404 for the motor shaft 304(See FIG. 3 ) and part of the front face 308 (See FIG. 3 ) of the motor106. The plate 110 may be made from a thin material to protect the motorand damper from outside elements while providing no or minimaladditional compression to the damper. In some embodiments, the plate 110may be thicker in order to impart additional compression on the damper.

FIG. 5 depicts the motor mount 104 for connecting the damper, the motor,and the plate to a fuselage of a UAV. The motor mount 104 may have oneor more apertures 502 for inserting fasteners, e.g., screws, to connectthe motor mount 104 to the fuselage of the UAV. The one or moreapertures 502 may have one or more countersinks 504 to ensure anyfastener is flush against a front face 506 of the motor mount 104. Themotor mount 104 may have one or more indents 508 where excess materialmay be milled out to reduce weight without compromising the structuralintegrity of the motor mount 104. The motor mount 104 may have anaperture 510 having an edge 512 with a width for inserting the damperand motor. The width of this edge 512 may be the same as the width ofthe damper and/or the fins of the motor. Tabs 514 may be disposed aroundthe edge 512 of the aperture 510 in a symmetrical pattern and in a sameplane, which may extend parallel to the front face 506 of the motormount 104. In some embodiments, there may be six or more tabs 514, e.g.,eight equally-spaced tabs 514. Having the tabs 514 in the same plane maysimplify manufacturing, but in some embodiments, the tabs may be locatedin different planes.

FIG. 6 depicts the damper 102 installed in the motor mount 104 with fourof the tabs 514 visible from the front view. Each tab 514 is seated in acorresponding indentation 600 of the damper. The damper 102 is held inplace by these indentations 600, which are disposed on alternating facesof the damper 102 and are each seated in tabs 514 disposed in the sameplane. As a result of this configuration, four of the eight total tabs514 are visible from the front view of the motor mount 104. The airspace 602 in each indentation 600 of the damper 102 is the spaceremaining in each indentation 600 after each indentation 600 is seatedin each tab 514. The air space 602 allows the damper 102 to furthercompress around each tab 514. If this air space 602 was not present, thedampening would go up significantly, and thus the coupling would begreater, which would create additional vibration in the UAV fuselageattached to the motor mount 104. This air space 602 creates a moreflexible, and vibration absorbent, damper 102 without changing thedurometer of the damper 102 material itself. The damper 102 is depictedas symmetrical, but in some embodiments the damper may be asymmetrical.This asymmetrical arrangement may be used to change the properties ofthe damper, e.g., rotating an asymmetrical damper by ninety degrees maychange the stiffness of yaw vs. roll. The symmetrical damper 102 may beused to ensure that the damper 102 cannot be installed incorrectly inthe motor mount 104, e.g., via user error, which could have anunintended effect on the UAV.

FIG. 7 depicts the motor 106 and damper 102 installed in the motor mount104. The fins 310 of the motor 106 are seated in the slots 210 of thedamper 102 using a friction fit, and the outer surface 702 of the motor106 compresses the inner circumferential surface 700 of the damper 102.The fins 310 and outer surface 702 of the motor 106 compresses thedamper 102 against each of the tabs 514 of the motor mount 104 andfurther inhibits removal of the damper 102 from the motor mount 104.

FIG. 8 depicts the plate 110 secured over the top of the motor 106 anddamper, which seals in the damper and protects the motor 106 and damperfrom the external environment. The plate 110 may be secured to the motor106 by one or more fasteners 112, e.g., one or more screws. In someembodiments, the plate 110 may have an additional thickness to furthercompress the damper.

FIG. 9 depicts a front perspective view of the motor mount assembly 900.The damper is secured in the motor assembly and protected from outsideelements by the plate 110, which is secured by one or more fasteners112. The face of the motor 308 is visible through the plate 110. Themotor mount 104 may be mounted in the UAV and dampen vibrations from themotor 106.

FIG. 10 depicts a rear perspective view of the motor mount assembly1000. The vibrations of the motor 106 are dampened by theself-encapsulated damper placed between the motor 106 and the motormount 104. One or more wires 1002 may be used to provide power and/orcontrol to the motor 106.

FIG. 11 depicts a cross-sectional perspective view of the motor mountassembly 1100. The damper 102 is placed in the motor mount 104 such thatthe rigid tab 514 of the motor mount 104 is seated in an elasticindentation 202 of the damper 102 using a friction fit. The indentation202 of the damper 102 may have a curved edge 212, or lobe, on opposingindentation sidewalls (See FIG. 2A) that allows for further compressionof the damper 102 around the tab 514 when the motor 106 is inserted intothe damper 102. The plate 110 may be placed over the motor 106 anddamper 102 and secured with one or more fasteners 112.

In general, the stiffness, i.e., spring rate, of the damper 102 isdirectly correlated to its overall surface area in contact with themotor mount 104 and the motor 106, damper 102 durometer, and an inverseof the thickness of the damper 102. Dampening is a function of thematerial properties of the damper 102 material. There is a dependentrelation between all the different motions, e.g., yaw, thrust, pitch,roll, and radial motions, but each can be somewhat independentlyadjusted by: varying the tab 514 thickness (See FIGS. 12A-12C); varyingthe fin thickness (See FIGS. 15A-15C); varying the damper 102 thickness(See FIGS. 16A-16C); varying the number of tabs 514 (See FIG. 17 );varying the number of fins (See FIG. 17 ); asymmetrically positioningthe fins and tabs 514 to bias for a desired action (See FIG. 18 );changing the diameter of the assembly; asymmetrically biasing thediameter to bias for a desired action; and creating a non-round shape(See FIGS. 19A-19B), e.g., oval, rectangular, or triangular, toselectively bias for a desired result.

Adjusting rotational stiffness is a summation of the eight, or n, tabs514 in contact with the damper 102 in relation to force diameter, ordistance from the rotational center. The force diameter refers to wheretwice the radius of the center of pressure is being reacted. The side1102 of the tab 514, i.e., compressive spring rate, and the face 1104 ofthe tab 514, i.e., shear, do not correlate with radial position as longas the fins are mirrored. Rotational stiffness is increased by one ormore of the following: thickening the tab 514; thinning the damper 102between the tab 514 and the fin; increasing the durometer of the damper102; and changing the diameter relative to the rotational center.Adjusting radial stiffness is strongly correlated with rotationalstiffness but without the dependency to force diameter. Increasing forcediameter while reducing the contact face area can keep the samerotational stiffness, while dropping the radial stiffness. Torque is ameasure of force times radius. T=F*r or F=T/r. Torque is a constant, soincreasing the radius of the force on the damper 102 will lower theforce, which results in a smaller deflection per force, and a stifferdamper 102.

Adjusting thrust stiffness is a summation of the eight, or n, divided bytwo (n/2) tabs 514 in contact with the damper 102 in the followinglocations: a side 1102 of the tab 514, i.e., in shear, and a face 1104of the tab 514, i.e., compression, divided by two, because the tabs 514are skipped. The tabs 514 do not need to be symmetrical, only mirrored,and thrust stiffness is not correlated to force diameter.

Adjusting the tilt or yaw stiffness is related to force diameter plusbiasing the stiffness of the eight, or n, contact faces in a mirroredfashion: a side 1102 of the tab 514, i.e., in shear, and a face 1104 ofthe tab 514, i.e., compression. Top and bottom lobe 212 stiffness isdirectly correlated to pitch while adjusting the right and left lobe 212is yaw. Increasing the fin width or tightness/quantity of fins in thedesired orientation, and/or force diameter/radius increase will alsoincrease its stiffness. In the case of tilt, its stiffness is due to theseparation between the average stiffness above and below the horizontalplane. Increasing the separation distance will increase the stiffness.The same applies for yaw, but across the vertical plane.

FIGS. 12A-12C depict cross-sectional views (1200, 1218, 1234) of adamper and tab with varying tab thicknesses and a constant relativedamper thickness. FIG. 12A depicts a cross-sectional view 1200 of thedamper 1202 having a width 1204. A tab 1206 of the motor mount has a tabwidth 1208. The damper 1202 is dimensioned to fit the motor mount tab1206 and motor mount edge 1210. The damper 1202 has a relative damperthickness 1212 from a face 1214 of the tab 1206 to a face 1216 of thedamper 1210.

FIG. 12B depicts a cross-sectional view 1218 of a motor mount edge 1220having a thicker tab 1222 than the tab in FIG. 12A, but with a constantthickness 1224 from a face 1226 of the tab 1222 to a face 1228 of thedamper 1230, as compared to FIG. 12A. Accordingly, the width 1232 of thedamper 1230 is thicker than in FIG. 12A. The damper 1230 provides anincrease in rotational spring rate as compared to FIG. 12A.

FIG. 12C depicts a cross-sectional view 1234 of a motor mount edge 1236having a thinner tab 1238 than the tab in FIG. 12A, but with a constantthickness 1240 from a face 1242 of the tab 1238 to a face 1244 of thedamper 1246, as compared to FIG. 12A. Accordingly, the width 1248 ofdamper 1246 is thinner than in FIG. 12A. The damper 1246 provides adecrease in rotational spring rate as compared to FIG. 12A.

FIGS. 13A-13C depict cross-sectional views (1300, 1310, 1320) of adamper and tab with varying damper thicknesses and a constant tabthickness. FIG. 13A depicts a cross-sectional view 1300 of a damper 1302having a width 1304. The damper 1302 is dimensioned to fit the motormount tab 1306 and motor mount edge 1308.

FIG. 13B depicts a cross-sectional view 1310 of a motor mount edge 1312having a tab 1314 with an identical tab thickness as in FIG. 12A, butwith a thinner width 1316 of the damper 1318, as compared to FIG. 12A.The damper 1318 is dimensioned to fit the motor mount tab 1314 and motormount edge 1312. The damper 1318 provides an increase in thrust springrate as compared to FIG. 13A.

FIG. 13C depicts a cross-sectional view 1320 of a motor mount edge 1322having a tab 1324 with an identical tab thickness as in FIG. 12A, butwith a thicker width 1326 of the damper 1328, as compared to FIG. 13A.The damper 1318 is dimensioned to fit the motor mount tab 1314 and motormount edge 1312. The damper 1318 provides a decrease in thrust springrate as compared to FIG. 13A.

FIGS. 14A-14C depict cross-sectional views of a damper and tab withvarying tab lengths, a constant tab thickness, and a constant damperthickness. FIG. 14A depicts a cross-sectional view 1400 of a tab 1402having a width 1404 and a length 1406. A damper 1408 is dimensioned tofit the motor mount tab 1402 and motor mount edge 1410.

FIG. 14B depicts a cross-sectional view 1412 of a motor mount edge 1414having a tab 1416 with an identical tab thickness as in FIG. 14A, butwith a wider width 1418 of the tab 1416, as compared to FIG. 14A. Thedamper 1420 is dimensioned to fit the motor mount tab 1416 and motormount edge 1414. The damper 1420 provides an increase in rotationalspring rate and thrust spring rate as compared to FIG. 14A.

FIG. 14C depicts a cross-sectional view 1422 of a motor mount edge 1424having a tab 1426 with an identical tab thickness as in FIG. 14A, butwith a narrower width 1428 of the tab 1426, as compared to FIG. 14A. Thedamper 1430 is dimensioned to fit the motor mount tab 1426 and motormount edge 1424. The damper 1430 provides a decrease in rotationalspring rate and thrust spring rate as compared to FIG. 14A.

FIGS. 15A-15C depict top views of a motor fin with varying thicknesses.FIG. 15A depicts a top view 1500 of a fin 1502 protruding from a lowerface 1504 of a motor to a front face 1506 of the motor. The fin 1502 hasa width 1508.

FIG. 15B depicts a top view 1510 of a fin 1512 having a thicker width1514, as compared to FIG. 15A. A damper dimensioned to fit the fin 1512provides an increase in torsional spring rate as compared to a damperdimensioned to fit the fin in FIG. 15A.

FIG. 15C depicts a top view 1516 of a fin 1518 having a thinner width1520, as compared to FIG. 15A. A damper dimensioned to fit the fin 1518provides a decrease in torsional spring rate as compared to a damperdimensioned to fit the fin in FIG. 15A.

FIGS. 16A-16C depict side views of a damper with varying thicknesses.FIG. 16A depicts a side view 1600 of a damper 1602 having indentations(1604, 1606, 1608, 1610, 1612) extending over halfway through a width ofthe damper, i.e., past a centerline 1614 of the damper 1602. The damper1602 has a thickness 1616.

FIG. 16B depicts a side view 1618 of a damper 1620 where the width 1622of the damper 1620 is thicker than in FIG. 16A. The damper 1620 providesa decrease in thrust spring rate per tab as compared to FIG. 16A.

FIG. 16C depicts a side view 1624 of a damper 1626 where the width 1628of the damper 1626 is thinner than in FIG. 16A. The damper 1626 providesan increase in thrust spring rate per tab as compared to FIG. 16A.Increasing or decreasing the spring rate directly correlates to thetile/yaw spring rate.

FIG. 17 depicts a top view of a motor mount having an alternate numberof tabs, a motor having an alternate number of fins, and a damperdimensioned to fit the motor mount and motor. A motor mount 1700 hasfour equally-spaced tabs (1702, 1704, 1706, 1708). A motor 1710 has fourequally-spaced fins (1712, 1714, 1716, 1718). A damper 1720 isdimensioned to fit the tabs (1702, 1704, 1706, 1708) of the motor mount1700 and the fins (1712, 1714, 1716, 1718) of the motor 1710. The damper1720 provides a decreased torsional spring rate and decreased thrustspring rate as compared to the embodiment shown in FIG. 6 . As thenumber of fins (1712, 1714, 1716, 1718) is reduced, the torsional springrate decreases.

FIG. 18 depicts a top view of a motor mount having an alternatepositioning of tabs, a motor having an alternate positioning of fins,and a damper dimensioned to fit the motor mount and motor. A motor mount1800 has six tabs (1802, 1804, 1806, 1808, 1810, 1812) arranged in analternate, not equally spaced, spacing. The tabs (1802, 1804, 1806,1808, 1810, 1812) are symmetrical about a horizontal axis 1814. A motor1816 has six fins (1818, 1820, 1822, 1824, 1826, 1828) arranged in analternate, not equally spaced, spacing. A damper 1830 has threeindentations (1832, 1834, 1836) extending into a front face 1838 of thedamper 1830. Each of these three indentations (1832, 1834, 1836)receives a corresponding tab (1802, 1806, 1810) from the motor mount1800. Three additional indentations (1840, 1842, 1844) extend into aback face of the damper 1830, as depicted in dashed lines. Each of thesethree additional indentations (1840, 1842, 1844) receives acorresponding tab (1804, 1808, 1812) from the motor mount 1800. Thedamper 1830 has six indentations (1846, 1848, 1850, 1852, 1854, 1856)which each receive respective fins (1818, 1820, 1822, 1824, 1826, 1828)from the motor 1816. The arrangement shown in FIG. 18 has an increasedpitch spring rate and a decreased yaw spring rate as compared to theembodiment shown in FIG. 6 . An embodiment with varying pitch and yawspring rates, as shown in FIG. 18 may be used where damping across oneaxis is desired and where damping across another axis is not desiredand/or not as crucial.

FIGS. 19A-19B depict top views of a damper with varying shapes. FIG. 19Adepicts a damper 1900 having a round shape. FIG. 19B depicts a damper1902 having an elongated oval shape. The damper 1902 has a greater pitchspring rate, a lower yaw spring rate, a similar thrust spring rate, anda similar torsional spring rate as compared to FIG. 19A.

It is contemplated that various combinations and/or sub-combinations ofthe specific features and aspects of the above embodiments may be madeand still fall within the scope of the invention. Accordingly, it shouldbe understood that various features and aspects of the disclosedembodiments may be combined with or substituted for one another in orderto form varying modes of the disclosed invention. Further it is intendedthat the scope of the present invention herein disclosed by way ofexamples should not be limited by the particular disclosed embodimentsdescribed above.

What is claimed is:
 1. A system comprising: a damper comprising two ormore indentations; a motor mount, the motor mount comprising two or moretabs, wherein the two or more tabs of the motor mount are seated in thetwo or more indentations of the damper; and wherein an air space remainsin each of the two or more indentations after the two or more tabs areseated in the two or more indentations of the damper for furthercompression of the damper against each of the two or more tabs.
 2. Thesystem of claim 1, wherein the two or more indentations are onalternating faces of the damper.
 3. The system of claim 2, wherein thealternating faces of the damper are a front face of the damper and arear face of the damper.
 4. The system of claim 1, wherein eachindentation of the two or more indentations is open to an outercircumferential surface of the damper.
 5. The system of claim 4, whereinthe two or more indentations each extend over halfway through a width ofthe outer circumferential surface of the damper.
 6. The system of claim1, wherein a first plurality of indentations of the two or moreindentations is on an upper surface of the damper.
 7. The system ofclaim 6, wherein a second plurality of indentations of the two or moreindentations is on a lower surface of the damper.
 8. The system of claim7, wherein the first plurality of indentations is alternatively arrangedwith indentations of the second plurality of indentations.
 9. The systemof claim 8, wherein each indentation of the first plurality ofindentations and the second plurality of indentations extends partiallythrough a width of the outer circumferential surface of the damper. 10.The system of claim 8, wherein the two or more indentations each do notextend entirely through a width of the outer circumferential surface ofthe damper.
 11. The system of claim 1, wherein the damper furthercomprises: one or more slots.
 12. The system of claim 11, wherein eachslot is open to an undulating inner circumferential surface of thedamper.
 13. The system of claim 11, wherein each slot extends through awidth of the damper.
 14. The system of claim 11, further comprising: amotor, the motor comprising one or more fins disposed along an outeredge of the motor, wherein the one or more fins of the motor are seatedin the one or more slots of the damper.
 15. The system of claim 1,wherein each of the two or more indentations has opposing indentationsidewalls with curved edges, and wherein each of the curved edges of theopposing indentation sidewalls compress against each respective tab. 16.The system of claim 1, wherein the two or more tabs of the motor mountare seated in the two or more indentations of the damper toself-encapsulate the outer circumferential surface of the damper in themotor mount.
 17. A method comprising: seating two or more tabs of amotor mount in two or more indentations of a damper to self-encapsulatean outer circumferential surface of the damper in the motor mount;seating one or more fins of a motor in one or more slots of a damper;and providing an air space in each of the two or more indentations afterthe two or more tabs are seated in the two or more indentations of thedamper for further compression of the damper against each of the two ormore tabs, wherein at least one of: the one or more fins of the motorand an outer edge of the motor compress the damper against the two ormore tabs of the motor mount and into the air space in the two or moreindentations.
 18. The method of claim 17, further comprising: adjustinga damping of at least one of yaw, thrust, pitch, roll, and radialmotions by at least one of: varying the thickness of the two or moretabs, varying the thickness of the one or more fins, and varying thethickness of the damper.
 19. The method of claim 17, further comprising:adjusting a damping of at least one of yaw, thrust, pitch, roll, andradial motions by at least one of: asymmetrically positioning the one ormore fins and two or more tabs and asymmetrically biasing a diameter ofthe damper.
 20. The system of claim 17, further comprising: adjusting adamping of at least one of yaw, thrust, pitch, roll, and radial motionsby at least one of: changing a diameter of the damper and creating anon-round shape of the damper.